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Cleanup of lots of debugging printfs

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This commit is contained in:
Julian Oes
2012-09-27 17:08:29 +02:00
parent 7f15309892
commit 2c5c314105
6 changed files with 2 additions and 31 deletions
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apps/ardrone_interface/ardrone_interface.c
+2 -9
View File
@@ -141,7 +141,6 @@ static int ardrone_open_uart(char *uart_name, struct termios *uart_config_origin
int uart;
/* open uart */
//printf("[ardrone_interface] UART is %s, baud rate is%d\n",uart_name,speed);
uart = open(uart_name, O_RDWR | O_NOCTTY);
/* Try to set baud rate */
@@ -238,15 +237,14 @@ int ardrone_interface_thread_main(int argc, char *argv[])
/* declare and safely initialize all structs */
struct vehicle_status_s state;
//memset(&state, 0, sizeof(state));
memset(&state, 0, sizeof(state));
struct actuator_controls_s actuator_controls;
//memset(&actuator_controls, 0, sizeof(actuator_controls));
memset(&actuator_controls, 0, sizeof(actuator_controls));
struct actuator_armed_s armed;
armed.armed = false;
/* subscribe to attitude, motor setpoints and system state */
int actuator_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
int state_sub = orb_subscribe(ORB_ID(vehicle_status));
int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
@@ -328,11 +326,6 @@ int ardrone_interface_thread_main(int argc, char *argv[])
* if in failsafe
*/
if (armed.armed && !armed.lockdown) {
//printf("AMO_BEF: Roll: %4.4f, Pitch: %4.4f, Yaw: %4.4f, Thrust: %4.4f\n",actuator_controls.control[0], actuator_controls.control[1], actuator_controls.control[2], actuator_controls.control[3]);
ardrone_mixing_and_output(ardrone_write, &actuator_controls);
} else {
apps/ardrone_interface/ardrone_motor_control.c
-4
View File
@@ -388,16 +388,12 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls
if (motor_thrust <= min_thrust) {
motor_thrust = min_thrust;
output_band = 0.0f;
//printf("0 silent\n");
} else if (motor_thrust < startpoint_full_control && motor_thrust > min_thrust) {
output_band = band_factor * (motor_thrust - min_thrust);
//printf("1 starting\n");
} else if (motor_thrust >= startpoint_full_control && motor_thrust < max_thrust - band_factor * startpoint_full_control) {
output_band = band_factor * startpoint_full_control;
//printf("2 working\n");
} else if (motor_thrust >= max_thrust - band_factor * startpoint_full_control) {
output_band = band_factor * (max_thrust - motor_thrust);
//printf("3 full\n");
}
//add the yaw, nick and roll components to the basic thrust //TODO:this should be done by the mixer